CN112828887A - Industrial robot end interface device and industrial robot - Google Patents
Industrial robot end interface device and industrial robot Download PDFInfo
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- CN112828887A CN112828887A CN202011626098.3A CN202011626098A CN112828887A CN 112828887 A CN112828887 A CN 112828887A CN 202011626098 A CN202011626098 A CN 202011626098A CN 112828887 A CN112828887 A CN 112828887A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The application belongs to the technical field of industrial robots and relates to an industrial robot end interface device and an industrial robot. The technical scheme provided by the application comprises a sensor module, a diagnosis module, a control unit, a communication module, a power supply module and an interface module; the control unit receives and processes instructions sent by the robot controller, signals sent by the sensor module and signals sent by the diagnosis module so as to send control signals, and the diagnosis module is used for monitoring whether the power supply module and the interface module are abnormal or not and sending the signals to the control unit so as to close output when the power supply module and the interface module are in overvoltage or overcurrent. The protection function of the power supply module and the interface module is provided, and the end interface device cannot be damaged or lose efficacy when the load is short-circuited or overloaded, so that the damage to personnel and valuable equipment is avoided; the six-axis force sensor is integrated, wiring from a PLC (programmable logic controller) or an IO (input/output) board of an electric cabinet is omitted, the cost is saved, and the use complexity is reduced.
Description
Technical Field
The application relates to the technical field of industrial robots, in particular to an industrial robot end interface device and an industrial robot.
Background
Along with the upgrading of industry and the continuous improvement of automation level, the application range of industrial robot arm is wider and wider, different sensors and terminal actuating device need to be connected at tool flange end to current robot arm, and current industrial robot arm especially cooperation robot arm can realize this function generally, but only has general IO function and analog input function, when the load short circuit or transship, damages end device easily, needs external sensor, increases wiring complexity and has increased the cost. When aiming at the above functional problems, the existing scheme mainly adopts additional switching equipment or leads the external switching equipment out of an electric control box to the tail end of an industrial robot, the scheme is expensive and complex to construct, the safety problem cannot be guaranteed, and the failure risk is very high.
Disclosure of Invention
The invention aims to provide an industrial robot and an end interface device thereof, which do not need to be externally provided with switching equipment or be led out to the end of the industrial robot from an electric control box, have the advantages of cost, reduced use complexity, and protection functions of a power supply module and an interface module, and avoid the damage to personnel and valuable equipment.
In order to solve the above-mentioned problems, embodiments of the present invention provide the following technical solutions:
an industrial robot end interface device comprises a sensor module, a diagnosis module, a control unit, a communication module, a power supply module and an interface module;
the diagnosis module, the sensor module, the communication module and the interface module are all connected with the control unit, the communication module is connected with a robot controller and used for communication between the robot controller and the control unit, the control unit receives and processes instructions sent by the robot controller, signals sent by the sensor module and signals sent by the diagnosis module and sends out control signals, the power module is used for converting an external power supply, the interface module is used for being connected with the end effector, and the diagnosis module is used for monitoring whether the power module and the interface module are abnormal or not so as to close output when the power module and the interface module are in overvoltage or overcurrent.
Further, the industrial robot end interface device further comprises a PTC thermal fuse, an MOS tube and a current sensor, wherein the PTC thermal fuse, the MOS tube and the current sensor are sequentially arranged between the power module and the end effector, and the PTC thermal fuse protects when the current output to the end effector is over-current.
Further, the interface module comprises an IO module, an RS458 communication module, a CAN communication module, an IO-LINK communication module, an RS232 communication module, an EtherCAT communication module and an analog quantity input and output module.
Further, the diagnosis module includes an IO port monitoring module that monitors whether a current of the IO module is abnormal, a voltage monitoring module that monitors whether a voltage of the end effector is abnormal, and a current monitoring module that monitors whether a current of the current sensor is abnormal.
Further, the IO port monitoring module receives a current signal of the IO module, and when a current of the IO module exceeds a set value, the IO port monitoring module signals to turn off OUTPUT of the IO port module and sends an alarm signal to the control unit, the voltage monitoring module receives a voltage signal of the end effector and sends an alarm signal to the control unit, when a voltage of the end effector exceeds a set value, the voltage monitoring module signals to turn off the MOS transistor, and when a current of the current sensor exceeds a set value, the current monitoring module receives a current signal of the current sensor, the voltage monitoring module signals to turn off the MOS transistor and sends an alarm signal to the control unit.
Further, the number of the interface modules is at least two.
Further, the sensor module includes a nine-axis acceleration sensor and a six-axis force sensor.
Further, nine-axis acceleration sensor includes accelerometer, gyroscope and magnetometer, the accelerometer is used for detecting the terminal three-dimensional acceleration of arm and vibration suppression information, the gyroscope is used for detecting the terminal level, perpendicular, pitch and the angular velocity information of arm in the motion process, the magnetometer is used for providing absolute spatial direction and motion vector, six sensors include six sensors, six sensors pass through the form series connection of BISS interface and with the control unit is connected.
Further, the communication module is EtherCAT bus communication, UART serial port communication, RS485 communication or CAN communication.
In order to solve the technical problem mentioned above, an embodiment of the present invention further provides an industrial robot, which adopts the following technical solutions:
the utility model provides an industrial robot, includes demonstrator, electric cabinet IO board, robot control ware, arm body and as above industrial robot end interface device, robot control ware is arranged in controlling the joint servo driver work in the arm body, industrial robot end interface device is connected with robot control ware through control bus's mode.
Compared with the prior art, the embodiment of the invention mainly has the following beneficial effects:
an industrial robot end interface device and an industrial robot, which have high safety and reliability, wherein a diagnosis module can monitor whether a power supply module and an interface module are abnormal or not so as to close output when the power supply module and the interface module are in overvoltage or overcurrent, so that the power supply module and the interface module have the protection function, and the end interface device cannot be damaged or lose efficacy when a load is in short circuit or overload, so that the damage to personnel and the damage to valuable equipment are avoided; the six-axis force sensor is integrated, and the six-dimensional force can be controlled without externally connecting the six-axis force sensor, so that the cost is saved and the use complexity is reduced; the robot end connector has the advantages that no external switching equipment is needed or the robot end connector is led out from an electric control box, so that the cost advantage is achieved, the use complexity is reduced, and the terminal function of the manipulator is realized by adding external elements such as a PLC (programmable logic controller) and the like in the prior art; the system is provided with two or more external interface modules, and meets the requirement of cooperative application of two or more end effectors; and various communication interfaces are integrated, and the requirements of end effectors with different communication protocols are met.
Drawings
In order to illustrate the solution of the invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are some embodiments of the invention, and that other drawings may be derived from these drawings by a person skilled in the art without inventive effort.
Fig. 1 is a block diagram of an industrial robot according to an embodiment of the present invention;
FIG. 2 is a block diagram of an industrial robot end interface device according to an embodiment of the present invention;
fig. 3 is a block diagram of a diagnostic module according to an embodiment of the present invention.
Description of reference numerals:
101. a six-axis force sensor; 102. a communication module; 103. a nine-axis acceleration sensor; 104. a power supply module; 105. a diagnostic module; 106. a control unit; 107. an interface module I; 108. an interface module II; 201. a demonstrator; 202. an electric cabinet IO board; 203. a robot controller; 204. a first joint servo driver; 205. a second joint servo driver; 206. a third joint servo driver; 207. a terminal interface device; 208. a robot end effector; 209. a sensor; 301. an external power supply; 304. a first robot end effector; 305. a second robot end effector; 401. an output power supply; 402. a PTC thermal fuse; 403. MOS tube 404, current sensor; 406. an IO port monitoring module; 407. a voltage monitoring module; 408. a current monitoring module; 409. an IO port module; 410. a control unit.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The terms "comprising" and "having," and any variations thereof, in the description and claims of the present invention and the description of the above figures are intended to cover non-exclusive inclusions. The terms "first," "second," and the like in the description and in the claims, or in the drawings, are used for distinguishing between different objects and not necessarily for describing a particular sequential order.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
In order to make the technical solutions of the present invention better understood by those skilled in the art, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the relevant drawings.
Examples
As shown in fig. 1 to 3, an industrial robot end interface device includes a sensor module, a diagnostic module 105, a control unit 106, a communication module 102, a power supply module 104, and an interface module.
The diagnostic module 105, sensor module, communication module 102 and interface module are all connected to the control unit 106, the communication module 102 is connected to a robot controller 302, for communication between the robot controller 302 and the control unit 106, said control unit 106 receiving and processing instructions sent by the robot controller 302, signals sent by the sensor modules and signals sent by the diagnostic module 105, and sends out control signals, the power module 104 is used for converting the external power 301, the power module 104 reduces the voltage of the external power 301 and outputs 1.2V, 3.3V, 5V and 24V current to the control unit 106 and the interface module, the interface module is used for connecting with the robot end effector 208, and the diagnosis module 105 is used for monitoring whether the power supply module 104 and the interface module are abnormal or not, so that the output is closed when the power supply module 104 and the interface module are in overvoltage or overcurrent.
According to the industrial robot end interface device provided by the embodiment of the invention, no external switching equipment is required to be added or the device is led out from the electric cabinet to the end of the industrial robot, so that the cost advantage is achieved, the use complexity is reduced, and the terminal function of the manipulator is realized by adding external elements such as a PLC (programmable logic controller) and the like in the prior art; the safety and reliability are high, and the diagnosis module 105 can monitor whether the power module 104 and the interface module are abnormal or not, so that the output is closed when the power module 104 and the interface module are in overvoltage or overcurrent, thereby having the protection function of the power module 104 and the interface module, and the end interface device 207 cannot be damaged or failed when the load is in short circuit or overload, thereby avoiding the damage to personnel and valuable equipment.
The industrial robot end interface device further comprises a PTC thermal fuse 402, an MOS tube 403 and a current sensor 404, wherein the PTC thermal fuse 402, the MOS tube 403 and the current sensor 404 are sequentially arranged between the power module 104 and the robot end effector 208, an output power 401 of the power module 104 sequentially passes through the PTC thermal fuse 402, the MOS tube 403 and the current sensor 404 which are connected in series to enter the robot end effector 208, the PTC thermal fuse 402 protects when the current output to the robot end effector 208 is over-current, when the circuit normally works, the temperature of the PTC thermal fuse 402 is close to the room temperature, the resistance is small, the PTC thermal fuse 402 cannot block the current from passing through in the circuit of the robot end effector 208 when the circuit is in fault, and when the current output to the robot end effector 208 is caused by the over-current power, the temperature of the PTC thermal fuse 402 rises due to the increase of the over-current, when the temperature exceeds the switching temperature of the PTC thermal fuse 402, the resistance momentarily spikes, so that the current output to the robot end effector 208 quickly decreases to a safe value.
In one embodiment, the interface module includes an IO module, an RS458 communication, a CAN communication, an IO-LINK communication, an RS232 communication, an EtherCAT communication, and an analog input/output module, integrates multiple communication interfaces, and meets the requirements of the robot end effector 208 with different communication protocols.
The diagnosis module 105 includes an IO port monitoring module 406, a voltage monitoring module 407, and a current monitoring module 408, the IO port monitoring module 406 monitors whether a current of the IO module is abnormal and transmits a signal to the control unit 410, the voltage monitoring module 407 monitors whether a voltage of the robot end effector 208 is abnormal and transmits a signal to the control unit 410, and the current monitoring module 408 monitors whether a current of the current sensor 404 is abnormal and transmits a signal to the control unit 410.
In this embodiment of the present invention, the IO port monitoring module 406 receives a current signal of the IO module, and when the current of the IO module exceeds a set value, signals to turn off OUTPUT of the IO port module 409 and send an alarm signal to the control unit 410, the voltage monitoring module 407 receives a voltage signal of the robot end effector 208, and when the voltage of the robot end effector 208 exceeds the set value, signals to turn off the MOS transistor 403 and sends the alarm signal to the control unit 410, the current monitoring module 408 receives a current signal of the current sensor 404, and when the current of the current sensor 404 exceeds the set value, signals to turn off the MOS transistor 403 and sends the alarm signal to the control unit 410. Therefore, the voltage and the current OUTPUT to the robot end effector 208 are monitored, the current of the OUTPUT port of the IO port module 409 is also monitored, and when an abnormality occurs, the current can be timely shut off and an alarm signal can be sent to the control unit 410. The safety and reliability are high, and the end interface device 207 is ensured not to be damaged or fail when the load is short-circuited or overloaded, so that the injury to personnel and the damage to valuable equipment are avoided.
The number of the interface modules is at least two, and the two or more than two external interface modules meet the requirement of cooperative application of the two or more than two robot end effectors 208.
In one embodiment, the interface module includes a first interface module 107 and a second interface module 108, and accordingly, the first interface module 107 is connected with the first robot end effector 304, and the second interface module 108 is connected with the second robot end effector 305, so that the first robot end effector 304 and the second robot end effector 305 can work cooperatively to meet the requirement of cooperative application of the two end effectors.
The sensor module includes a nine-axis acceleration sensor 103 and a six-axis force sensor 101. The six-axis force sensor 101 is integrated, the six-dimensional force can be controlled without externally connecting the six-axis force sensor 101, the cost is saved, and the use complexity is reduced.
The nine-axis acceleration sensor 103 comprises an accelerometer, a gyroscope and a magnetometer, wherein the accelerometer is used for detecting information such as three-dimensional acceleration and vibration suppression of the tail end of the mechanical arm, the gyroscope is used for detecting information such as horizontal, vertical, pitching and angular velocity of the tail end of the mechanical arm in the motion process, the mechanical arm can be applied to scenes such as VR (virtual reality), the magnetometer is used for providing absolute space direction and motion vectors, the six-axis force sensor 101 is used for testing all six components of force and torque received by the tail end interface device 207, the six-axis force sensor 101 comprises six sensors, the six sensors are connected in series in a BISS (building information system) interface mode and connected with the control unit 410, signals of the six sensors are analyzed by the control unit 410, and the whole tail end interface device 207 is calibrated as a whole during calibration.
The communication module 102 is EtherCAT bus communication, UART serial port communication, RS485 communication or CAN communication.
The industrial robot end interface device provided by the embodiment of the invention has high safety and reliability, the diagnosis module 105 can monitor whether the power module 104 and the interface module are abnormal or not, so that the power module 104 and the interface module are closed to output when overvoltage or overcurrent occurs, the protection function of the power module 104 and the interface module is realized, the end interface device 207 cannot be damaged or fail when a load is short-circuited or overloaded, and the damage to personnel and valuable equipment is avoided; the six-axis force sensor 101 is integrated, and the six-dimensional force can be controlled without externally connecting the six-axis force sensor 101, so that the cost is saved and the use complexity is reduced; the automatic manipulator has the advantages that no additional switching equipment is needed or the automatic manipulator is led out from the electric control box to the tail end of the industrial robot, so that the cost advantage is achieved, the use complexity is reduced, and the tail end function of the manipulator is realized by adding external elements such as a PLC (programmable logic controller) and the like in the prior art; the system is provided with two or more external interface modules, so that the requirement of cooperative application of two or more robot end effectors 208 is met; integrates a plurality of communication interfaces, and meets the requirements of the robot end effector 208 with different communication protocols.
In order to solve the technical problem mentioned above, an embodiment of the present invention further provides an industrial robot, which adopts the following technical solutions:
the utility model provides an industrial robot, includes demonstrator 201, electric cabinet IO board 202, robot controller 203, arm body, robot end effector 208, sensor 209 and as above industrial robot end interface device, industrial robot end interface device is connected with robot controller 203 through control bus's mode, controls robot end effector 208 and sensor module after signal conversion analysis. By arranging the terminal interface device 207, wiring from an electric cabinet or a PLC controller is omitted, an external six-dimensional force sensor can be omitted, and two or more external devices or sensors can be externally connected.
The demonstrator 201 is used for displaying an interface of the robot controller 203 and programming a running track and a running state of the robot, the electric cabinet IO board 202 integrates various emergency stop functions, an analog input/output function and a general IO port function of the robot, the robot controller 203 is used for controlling a joint servo driver in a robot arm body to work, specifically, the robot controller 203 controls a first joint servo driver 204, a second joint servo driver 205 and a third joint servo driver 206 in the robot arm body to run according to a required track and indicate abnormity and the like, the first joint servo driver 204 is used for driving a first joint and a second joint of the robot arm body, the second joint servo driver 205 is used for driving a third fourth joint of the robot arm body, and the third joint servo driver 206 is used for driving a fifth sixth joint of the robot arm body.
The industrial robot provided by the embodiment of the invention has high safety and reliability, the diagnosis module 105 can monitor whether the power module 104 and the interface module are abnormal or not, so that the power module 104 and the interface module are closed to output when overvoltage or overcurrent occurs, the protection function of the power module 104 and the interface module is realized, and the terminal interface device 207 cannot be damaged or fail when a load is short-circuited or overloaded, so that the damage to personnel and the damage to valuable equipment are avoided; the six-axis force sensor 101 is integrated, and the six-dimensional force can be controlled without externally connecting the six-axis force sensor 101, so that the cost is saved and the use complexity is reduced; the automatic manipulator has the advantages that no additional switching equipment is needed or the automatic manipulator is led out from the electric control box to the tail end of the industrial robot, so that the cost advantage is achieved, the use complexity is reduced, and the tail end function of the manipulator is realized by adding external elements such as a PLC (programmable logic controller) and the like in the prior art; the system is provided with two or more external interface modules, so that the requirement of cooperative application of two or more robot end effectors 208 is met; integrates various communication interfaces, and meets the requirements of the robot end effector 208 with different communication protocols.
It is to be understood that the above-described embodiments are merely illustrative of some, but not restrictive, of the broad invention, and that the appended drawings illustrate preferred embodiments of the invention without limiting its scope. This invention may be embodied in many different forms and, on the contrary, these embodiments are provided so that this disclosure will be thorough and complete. Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and modifications can be made, and equivalents may be substituted for elements thereof. All equivalent structures made by using the contents of the specification and the attached drawings of the invention can be directly or indirectly applied to other related technical fields, and are also within the protection scope of the patent of the invention.
Claims (10)
1. An industrial robot end interface device, which is characterized in that,
the system comprises a sensor module, a diagnosis module, a control unit, a communication module, a power supply module and an interface module;
the diagnosis module, the sensor module, the communication module and the interface module are all connected with the control unit, the communication module is connected with a robot controller and used for communication between the robot controller and the control unit, the control unit receives and processes instructions sent by the robot controller, signals sent by the sensor module and signals sent by the diagnosis module and sends out control signals, the power module is used for converting an external power supply, the interface module is used for being connected with the end effector, and the diagnosis module is used for monitoring whether the power module and the interface module are abnormal or not so as to close output when the power module and the interface module are in overvoltage or overcurrent.
2. An industrial robot end interface device according to claim 1,
the industrial robot end interface device further comprises a PTC thermal fuse, an MOS tube and a current sensor, wherein the PTC thermal fuse, the MOS tube and the current sensor are sequentially arranged between the power module and the end effector, and the PTC thermal fuse protects when the current output to the end effector is over-current.
3. An industrial robot end interface device according to claim 2,
the interface module comprises an IO module, an RS458 communication module, a CAN communication module, an IO-LINK communication module, an RS232 communication module, an EtherCAT communication module and an analog input and output module.
4. An industrial robot end interface device according to claim 3,
the diagnosis module includes an IO port monitoring module, a voltage monitoring module, and a current monitoring module, the IO port monitoring module monitors whether a current of the IO module is abnormal, the voltage monitoring module monitors whether a voltage of the end effector is abnormal, and the current monitoring module monitors whether a current of the current sensor is abnormal.
5. An industrial robot end interface device according to claim 4,
the IO port monitoring module receives a current signal of the IO module, signals to turn off OUTPUT of the IO port module when the current of the IO module exceeds a set value, and sends an alarm signal to the control unit, the voltage monitoring module receives a voltage signal of the end effector, and sends the alarm signal to the control unit, signals to turn off an MOS (metal oxide semiconductor) tube when the voltage of the end effector exceeds the set value, the current monitoring module receives the current signal of the current sensor, signals to turn off the MOS tube when the current of the current sensor exceeds the set value, and sends the alarm signal to the control unit.
6. An industrial robot end interface device according to claim 1,
the number of the interface modules is at least two.
7. An industrial robot end interface device according to claim 1,
the sensor module includes a nine-axis acceleration sensor and a six-axis force sensor.
8. An industrial robot end interface device according to claim 7,
nine-axis acceleration sensor includes accelerometer, gyroscope and magnetometer, the accelerometer is used for detecting the terminal three-dimensional acceleration of arm and vibration suppression information, the gyroscope is used for detecting the terminal level, perpendicular, pitch and the angular velocity information of arm in the motion process, the magnetometer is used for providing absolute direction of space and motion vector, six axis force sensor include six sensors, six sensors pass through the form series connection of BISS interface and with the control unit connects.
9. An industrial robot end interface device according to claim 1,
the communication module is EtherCAT bus communication, UART serial port communication, RS485 communication or CAN communication.
10. An industrial robot is characterized in that,
the industrial robot end interface device comprises a demonstrator, an electric cabinet IO board, a robot controller, a mechanical arm body and the industrial robot end interface device as claimed in any one of claims 1 to 9, wherein the robot controller is used for controlling a joint servo driver in the mechanical arm body to work, and the industrial robot end interface device is connected with the robot controller in a control bus mode.
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| CN114750153A (en) * | 2022-04-13 | 2022-07-15 | 上海电气集团股份有限公司 | Motion control system for robot arm, cooperative robot, and storage medium |
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